Segmentation based on homomorphic filtering and improved seeded region growing for mobile robots tracking in image sequences

• Autorzy: Kasinski A. J. , Hamdy A. M.
• Języki publikacji: EN

Abstrakty

EN

In this paper, we present a method for extracting of mobile robots in a sequence of noisy frames, assuming a complex background composed of textured floor, illuminated unvenly. A homomorphic filter if used, as a preprocessor, to enhance the acquired frames by eliminating the illumination component and emphasizing the reflectance component of the image function. To speed up preprocessing of each frame, filtering is only applied to the pixels belonging to the regions of interest (ROI). In all the tested cases, homomorphic--filtering led to better results than those obtained without preprocessing. The segmentation process has been based on seeded region growing procedure for reconstructing the shape of the mobil robot. We proposed automatic seed points selection in the binarized difference image, and use an adaptive threshold. This use eliminates or at least considerably reduces false negative detections, and reduces sensitivity of aggregation results to the selected seed points as compared to the classical seeded region growing procedure. Additionally, by imposing a condition of strong connectivityu bettween a seed point and its neighborhood, aggregation of undesired pixels efficiently eliminates false positive detections. Implementation of segmentation and tracking can be run in real time. High tracking accuracy has been obtained through out all the frames in a test sequence.

Słowa kluczowe

EN

adaptive threshold; homomorphic filtering; motion segmentation; seeded region growing; visual tracking

• Wydawca: Institute of Information Technology of the Warsaw University of Life Sciences – SGGW
• Czasopismo: Machine Graphics and Vision
• Rocznik: 2001
• Tom: Vol. 10, No. 4
• Strony: 447--466
• Opis fizyczny: Bibliogr. 8 poz.

Twórcy

autor

Kasinski A. J.

autor

Hamdy A. M.

• Department of Control, Robotics and Computer Science, Poznan University of Technology, ul. Piotrowo 3A, 60-965 Poznan, Poland,